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<div class="title">lum.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: lum.h 5663 2012-05-02 13:49:39Z florentinus $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_LUM_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_LUM_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/eigen.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/correspondence.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost_graph.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>Eigen</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;float, 6, 1&gt; Vector6f;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;float, 6, 6&gt; Matrix6f;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_l_u_m.html">  110</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_l_u_m.html">LUM</a></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;LUM&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const LUM&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_l_u_m_1_1_vertex_properties.html">  120</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_l_u_m_1_1_vertex_properties.html">VertexProperties</a></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          PointCloudPtr cloud_;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          Eigen::Vector6f pose_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        };</div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_l_u_m_1_1_edge_properties.html">  126</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_l_u_m_1_1_edge_properties.html">EdgeProperties</a></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          pcl::CorrespondencesPtr corrs_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          Eigen::Matrix6f cinv_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          Eigen::Vector6f cinvd_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        };</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">typedef</span> boost::adjacency_list&lt;boost::eigen_vecS, boost::eigen_vecS, boost::bidirectionalS, VertexProperties, EdgeProperties, boost::no_property, boost::eigen_listS&gt; SLAMGraph;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;SLAMGraph&gt; SLAMGraphPtr;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SLAMGraph::vertex_descriptor Vertex;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SLAMGraph::edge_descriptor Edge;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_l_u_m.html#aa9d66a02a1867f3ac9f07caff26a351f">  141</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#aa9d66a02a1867f3ac9f07caff26a351f">LUM</a> () </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a645ac5f526d69b8abfe4e22779f4ffba">slam_graph_</a> (new SLAMGraph)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ab246377b8f33ecebc06801903f406dea">max_iterations_</a> (5)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a0fb259311e13ca9fd7c043eb00634ba8">convergence_threshold_</a> (0.0)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#aea83eb9987c33d5a33a2e310f8ae7295">setLoopGraph</a> (<span class="keyword">const</span> SLAMGraphPtr &amp;slam_graph);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">inline</span> SLAMGraphPtr</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a4734649ba6830a843feed9e9e019e62e">getLoopGraph</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">typename</span> SLAMGraph::vertices_size_type</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a22eadc6569a37ff9ccd5d4cda65e5d85">getNumVertices</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a65a8f80484b47482b851db71cef17a07">setMaxIterations</a> (<span class="keywordtype">int</span> max_iterations);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#aa5349f57d5df4e6ceba9da4bf6f6afee">getMaxIterations</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a5d964236606833a18e95bb8c3504296d">setConvergenceThreshold</a> (<span class="keywordtype">float</span> convergence_threshold);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a116e8194e8ea0da1ab88e85491c8e128">getConvergenceThreshold</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        Vertex</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#af02ab9840050d2b5d49818f4756f83f5">addPointCloud</a> (<span class="keyword">const</span> PointCloudPtr &amp;cloud, <span class="keyword">const</span> Eigen::Vector6f &amp;pose = Eigen::Vector6f::Zero ());</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ac672ad22fa27925cc3c01e3c6de885ed">setPointCloud</a> (<span class="keyword">const</span> Vertex &amp;vertex, <span class="keyword">const</span> PointCloudPtr &amp;cloud);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keyword">inline</span> PointCloudPtr</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#aca2e8b6ba2f60170e3bcbe37982e3ce4">getPointCloud</a> (<span class="keyword">const</span> Vertex &amp;vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ab808ee7d1dc3d40e721f385c6c9e21a1">setPose</a> (<span class="keyword">const</span> Vertex &amp;vertex, <span class="keyword">const</span> Eigen::Vector6f &amp;pose);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keyword">inline</span> Eigen::Vector6f</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ad263af099c2692b676442fd5b28ee39b">getPose</a> (<span class="keyword">const</span> Vertex &amp;vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ad33e4d184894f161587fef8ebdc1a581">getTransformation</a> (<span class="keyword">const</span> Vertex &amp;vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ad3c5f6fceabb3655f6d6e78bfc3063f9">setCorrespondences</a> (<span class="keyword">const</span> Vertex &amp;source_vertex, </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                            <span class="keyword">const</span> Vertex &amp;target_vertex, </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                            <span class="keyword">const</span> pcl::CorrespondencesPtr &amp;corrs);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keyword">inline</span> pcl::CorrespondencesPtr</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ab83f80d5d2b23497058317491fd8c510">getCorrespondences</a> (<span class="keyword">const</span> Vertex &amp;source_vertex, <span class="keyword">const</span> Vertex &amp;target_vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a0eeba16c08a09d4379cb034a471b5500">compute</a> ();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        PointCloudPtr</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a9520ce2395ef0c56e8ec2e4eb58e751c">getTransformedCloud</a> (<span class="keyword">const</span> Vertex &amp;vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        PointCloudPtr</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a66915cba98627abd82a71293d12e3b22">getConcatenatedCloud</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a2de5ccd129252ab810d7895646effa3d">computeEdge</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_edge.html">Edge</a> &amp;e);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keyword">inline</span> Eigen::Matrix6f</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a12ea6d99451d118ea13a6456f76ff825">incidenceCorrection</a> (<span class="keyword">const</span> Eigen::Vector6f &amp;pose);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_l_u_m.html#a645ac5f526d69b8abfe4e22779f4ffba">  331</a></span>&#160;        SLAMGraphPtr <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a645ac5f526d69b8abfe4e22779f4ffba">slam_graph_</a>;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_l_u_m.html#ab246377b8f33ecebc06801903f406dea">  334</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#ab246377b8f33ecebc06801903f406dea">max_iterations_</a>;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_l_u_m.html#a0fb259311e13ca9fd7c043eb00634ba8">  337</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_l_u_m.html#a0fb259311e13ca9fd7c043eb00634ba8">convergence_threshold_</a>;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    };</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;}</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/lum.hpp&gt;</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_REGISTRATION_LUM_H_</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_edge_html"><div class="ttname"><a href="classpcl_1_1_edge.html">pcl::Edge</a></div><div class="ttdef"><b>Definition:</b> edge.h:49</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html">pcl::registration::LUM</a></div><div class="ttdoc">Globally Consistent Scan Matching based on an algorithm by Lu and Milios.</div><div class="ttdef"><b>Definition:</b> lum.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a0eeba16c08a09d4379cb034a471b5500"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a0eeba16c08a09d4379cb034a471b5500">pcl::registration::LUM::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">Perform LUM's globally consistent scan matching.</div><div class="ttdef"><b>Definition:</b> lum.hpp:209</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a0fb259311e13ca9fd7c043eb00634ba8"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a0fb259311e13ca9fd7c043eb00634ba8">pcl::registration::LUM::convergence_threshold_</a></div><div class="ttdeci">float convergence_threshold_</div><div class="ttdoc">The convergence threshold for the summed vector lengths of all poses.</div><div class="ttdef"><b>Definition:</b> lum.h:337</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a116e8194e8ea0da1ab88e85491c8e128"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a116e8194e8ea0da1ab88e85491c8e128">pcl::registration::LUM::getConvergenceThreshold</a></div><div class="ttdeci">float getConvergenceThreshold() const</div><div class="ttdoc">Get the convergence threshold for the compute() method.</div><div class="ttdef"><b>Definition:</b> lum.hpp:88</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a12ea6d99451d118ea13a6456f76ff825"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a12ea6d99451d118ea13a6456f76ff825">pcl::registration::LUM::incidenceCorrection</a></div><div class="ttdeci">Eigen::Matrix6f incidenceCorrection(const Eigen::Vector6f &amp;pose)</div><div class="ttdoc">Returns a pose corrected 6DoF incidence matrix.</div><div class="ttdef"><b>Definition:</b> lum.hpp:401</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a22eadc6569a37ff9ccd5d4cda65e5d85"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a22eadc6569a37ff9ccd5d4cda65e5d85">pcl::registration::LUM::getNumVertices</a></div><div class="ttdeci">SLAMGraph::vertices_size_type getNumVertices() const</div><div class="ttdoc">Get the number of vertices in the SLAM graph.</div><div class="ttdef"><b>Definition:</b> lum.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a2de5ccd129252ab810d7895646effa3d"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a2de5ccd129252ab810d7895646effa3d">pcl::registration::LUM::computeEdge</a></div><div class="ttdeci">void computeEdge(const Edge &amp;e)</div><div class="ttdoc">Linearized computation of C^-1 and C^-1*D (results stored in slam_graph_).</div><div class="ttdef"><b>Definition:</b> lum.hpp:297</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a4734649ba6830a843feed9e9e019e62e"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a4734649ba6830a843feed9e9e019e62e">pcl::registration::LUM::getLoopGraph</a></div><div class="ttdeci">SLAMGraphPtr getLoopGraph() const</div><div class="ttdoc">Get the internal SLAM graph structure.</div><div class="ttdef"><b>Definition:</b> lum.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a5d964236606833a18e95bb8c3504296d"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a5d964236606833a18e95bb8c3504296d">pcl::registration::LUM::setConvergenceThreshold</a></div><div class="ttdeci">void setConvergenceThreshold(float convergence_threshold)</div><div class="ttdoc">Set the convergence threshold for the compute() method.</div><div class="ttdef"><b>Definition:</b> lum.hpp:81</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a645ac5f526d69b8abfe4e22779f4ffba"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a645ac5f526d69b8abfe4e22779f4ffba">pcl::registration::LUM::slam_graph_</a></div><div class="ttdeci">SLAMGraphPtr slam_graph_</div><div class="ttdoc">The internal SLAM graph structure.</div><div class="ttdef"><b>Definition:</b> lum.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a65a8f80484b47482b851db71cef17a07"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a65a8f80484b47482b851db71cef17a07">pcl::registration::LUM::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations for the compute() method.</div><div class="ttdef"><b>Definition:</b> lum.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a66915cba98627abd82a71293d12e3b22"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a66915cba98627abd82a71293d12e3b22">pcl::registration::LUM::getConcatenatedCloud</a></div><div class="ttdeci">PointCloudPtr getConcatenatedCloud() const</div><div class="ttdoc">Return a concatenated point cloud of all the SLAM graph's point clouds compounded onto their current ...</div><div class="ttdef"><b>Definition:</b> lum.hpp:282</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_a9520ce2395ef0c56e8ec2e4eb58e751c"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#a9520ce2395ef0c56e8ec2e4eb58e751c">pcl::registration::LUM::getTransformedCloud</a></div><div class="ttdeci">PointCloudPtr getTransformedCloud(const Vertex &amp;vertex) const</div><div class="ttdoc">Return a point cloud from one of the SLAM graph's vertices compounded onto its current pose estimate.</div><div class="ttdef"><b>Definition:</b> lum.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_aa5349f57d5df4e6ceba9da4bf6f6afee"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#aa5349f57d5df4e6ceba9da4bf6f6afee">pcl::registration::LUM::getMaxIterations</a></div><div class="ttdeci">int getMaxIterations() const</div><div class="ttdoc">Get the maximum number of iterations for the compute() method.</div><div class="ttdef"><b>Definition:</b> lum.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_aa9d66a02a1867f3ac9f07caff26a351f"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#aa9d66a02a1867f3ac9f07caff26a351f">pcl::registration::LUM::LUM</a></div><div class="ttdeci">LUM()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> lum.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ab246377b8f33ecebc06801903f406dea"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ab246377b8f33ecebc06801903f406dea">pcl::registration::LUM::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum number of iterations for the compute() method.</div><div class="ttdef"><b>Definition:</b> lum.h:334</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ab808ee7d1dc3d40e721f385c6c9e21a1"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ab808ee7d1dc3d40e721f385c6c9e21a1">pcl::registration::LUM::setPose</a></div><div class="ttdeci">void setPose(const Vertex &amp;vertex, const Eigen::Vector6f &amp;pose)</div><div class="ttdoc">Change a pose estimate on one of the SLAM graph's vertices.</div><div class="ttdef"><b>Definition:</b> lum.hpp:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ab83f80d5d2b23497058317491fd8c510"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ab83f80d5d2b23497058317491fd8c510">pcl::registration::LUM::getCorrespondences</a></div><div class="ttdeci">pcl::CorrespondencesPtr getCorrespondences(const Vertex &amp;source_vertex, const Vertex &amp;target_vertex) const</div><div class="ttdoc">Return a set of correspondences from one of the SLAM graph's edges.</div><div class="ttdef"><b>Definition:</b> lum.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ac672ad22fa27925cc3c01e3c6de885ed"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ac672ad22fa27925cc3c01e3c6de885ed">pcl::registration::LUM::setPointCloud</a></div><div class="ttdeci">void setPointCloud(const Vertex &amp;vertex, const PointCloudPtr &amp;cloud)</div><div class="ttdoc">Change a point cloud on one of the SLAM graph's vertices.</div><div class="ttdef"><b>Definition:</b> lum.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_aca2e8b6ba2f60170e3bcbe37982e3ce4"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#aca2e8b6ba2f60170e3bcbe37982e3ce4">pcl::registration::LUM::getPointCloud</a></div><div class="ttdeci">PointCloudPtr getPointCloud(const Vertex &amp;vertex) const</div><div class="ttdoc">Return a point cloud from one of the SLAM graph's vertices.</div><div class="ttdef"><b>Definition:</b> lum.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ad263af099c2692b676442fd5b28ee39b"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ad263af099c2692b676442fd5b28ee39b">pcl::registration::LUM::getPose</a></div><div class="ttdeci">Eigen::Vector6f getPose(const Vertex &amp;vertex) const</div><div class="ttdoc">Return a pose estimate from one of the SLAM graph's vertices.</div><div class="ttdef"><b>Definition:</b> lum.hpp:152</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ad33e4d184894f161587fef8ebdc1a581"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ad33e4d184894f161587fef8ebdc1a581">pcl::registration::LUM::getTransformation</a></div><div class="ttdeci">Eigen::Affine3f getTransformation(const Vertex &amp;vertex) const</div><div class="ttdoc">Return a pose estimate from one of the SLAM graph's vertices as an affine transformation matrix.</div><div class="ttdef"><b>Definition:</b> lum.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_ad3c5f6fceabb3655f6d6e78bfc3063f9"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#ad3c5f6fceabb3655f6d6e78bfc3063f9">pcl::registration::LUM::setCorrespondences</a></div><div class="ttdeci">void setCorrespondences(const Vertex &amp;source_vertex, const Vertex &amp;target_vertex, const pcl::CorrespondencesPtr &amp;corrs)</div><div class="ttdoc">Add/change a set of correspondences for one of the SLAM graph's edges.</div><div class="ttdef"><b>Definition:</b> lum.hpp:172</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_aea83eb9987c33d5a33a2e310f8ae7295"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#aea83eb9987c33d5a33a2e310f8ae7295">pcl::registration::LUM::setLoopGraph</a></div><div class="ttdeci">void setLoopGraph(const SLAMGraphPtr &amp;slam_graph)</div><div class="ttdoc">Set the internal SLAM graph structure.</div><div class="ttdef"><b>Definition:</b> lum.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_l_u_m_html_af02ab9840050d2b5d49818f4756f83f5"><div class="ttname"><a href="classpcl_1_1registration_1_1_l_u_m.html#af02ab9840050d2b5d49818f4756f83f5">pcl::registration::LUM::addPointCloud</a></div><div class="ttdeci">Vertex addPointCloud(const PointCloudPtr &amp;cloud, const Eigen::Vector6f &amp;pose=Eigen::Vector6f::Zero())</div><div class="ttdoc">Add a new point cloud to the SLAM graph.</div><div class="ttdef"><b>Definition:</b> lum.hpp:95</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_l_u_m_1_1_edge_properties_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_l_u_m_1_1_edge_properties.html">pcl::registration::LUM::EdgeProperties</a></div><div class="ttdef"><b>Definition:</b> lum.h:127</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_l_u_m_1_1_vertex_properties_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_l_u_m_1_1_vertex_properties.html">pcl::registration::LUM::VertexProperties</a></div><div class="ttdef"><b>Definition:</b> lum.h:121</div></div>
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